using System; using System.Collections; using System.Collections.Generic; using System.Diagnostics; using System.Runtime.InteropServices; using System.Threading; using System.Threading.Tasks; using UnityEngine; using Debug = UnityEngine.Debug; public class VyncGetData { // Start is called before the first frame update private const string dllPath = "InVisionKinectDll"; //private const string dllPath = "InVisionKinectReceiver"; //public string HOST = "172.16.15.121"; public string HOST = "192.168.50.85"; //private const string HOST = "192.168.1.100"; private const int PORT = 6666; private const int IMAGE_WIDTH = 640; private const int IMAGE_HEIGHT = 576; private char _deviceId=(char)0; private char _dataType=(char)0; private uint _frameIndex=0; private uint _headDataNum=0; private float[] _headDataArray; private uint _bodyDataNum=0; private float[] _bodyDataArray; private uint _TriNum=0; public short[] _TriArray=new short[]{}; private bool _bDumpFrame=false; private bool _bCompressed=true; public float headPointSize=0.005f; public float bodyPointSize=0.01f; public float timeDelay=0f; private Stopwatch st = new Stopwatch(); private const int BUFFER_STRIDE = 9; [DllImport(dllPath)] private static extern int invision_kinect_init(string host, int port, int width, int height); [DllImport(dllPath)] //INVISION_KINECT_CLIENT_API int invision_kinect_fetchOneFrameData_unity(uint8_t& outDeviceId, uint8_t& outDataType, uint32_t& outFrameIndex, // uint32_t& outVertexNum, float* outVertexArray, uint32_t &outSecondaryVertexNum, float *outSecondaryVertexArray, // uint32_t& outMeshTrianglesNum, uint16_t* outVertexIndexArray, bool bDumpFrame, bool bCompressed); //DeviceId 设备号 DataType发送类型 0点云 1mesh FrameIndex传输的帧索引 headDataNum单帧的头部点数量 bodyDataNum单帧的身体点数量 headDataArray，bodyDataArray数据集6位一组 x y z r g b TriNum mesh顶点数量 TriArray mesh顶点数组 bDumpFrame是否本地保存单帧数据 bCompressed是否压缩 private static extern int invision_kinect_fetchOneFrameData_unity( ref char DeviceId, ref char DataType, ref uint FrameIndex, ref uint headDataNum, float[] headDataArray, ref uint bodyDataNum, float[] bodyDataArray, ref uint TriNum,ref short[] TriArray, bool bDumpFrame, bool bCompressed); [DllImport(dllPath)] private static extern int invision_kinect_destroy(); private Thread thread; private static VyncGetData instance; public static VyncGetData GetInstance() { if (instance == null) { instance = new VyncGetData(); } return instance; } public int limitPoints = 30000; //单shader的绘制长度 public int topologyNum=3;//拓展成三个 public int headPointGroups; //head随需要的组件数量 public int bodyPointGroups; //body随需要的组件数量 //public int totalPoint; //序列化数组 public List headpostionList; public List headcolorList; public List bodypostionList; public List bodycolorList; //只取6W个点 public Vector3[] curListImg; public Color[] curListCol; public int offsetZ=1; public void StartThread() { // totalPoint = limitPoints*topologyNum; // numPointGroups = Mathf.CeilToInt(totalPoint * 1.0f / limitPoints * 1.0f); headpostionList=new List(); headcolorList=new List(); bodypostionList=new List(); bodycolorList=new List(); //curListImg=new Vector3[totalPoint]; //curListCol=new Color[totalPoint]; invision_kinect_initParas(); } private void invision_kinect_initParas() { Debug.Log("invision_kinect_initParas"); invision_kinect_init(HOST, PORT, IMAGE_WIDTH, IMAGE_HEIGHT); _headDataArray = new float[IMAGE_WIDTH * IMAGE_HEIGHT]; _bodyDataArray = new float[IMAGE_WIDTH * IMAGE_HEIGHT]; //imageColor = new Int32[IMAGE_WIDTH * IMAGE_HEIGHT]; //imageBufferSize = IMAGE_WIDTH * IMAGE_HEIGHT * BUFFER_STRIDE; // imageBuffer = new Byte[imageBufferSize]; //0~5 bytes:xyz, 6~8 bytes:rgb //receiveBufferSize = 0; ThreadStart childRef=new ThreadStart(readCloudPoint); thread=new Thread(childRef); thread.Start(); } //判断是否更新 public bool isUpdatae=false; public bool isLost=true; private void readCloudPoint() { while (true) { if (isUpdatae) { Thread.Sleep(5); continue; } //private static extern int invision_kinect_fetchOneFrameData(int Index,int BufferSize,Out float[] PosArray,Out Byte[] ColData,Out int TNum, Out short[] TDatas); st.Start(); //开始计时 // Debug.Log("通讯开始 "); int mDataType = invision_kinect_fetchOneFrameData_unity( ref _deviceId,ref _dataType, ref _frameIndex, ref _headDataNum, _headDataArray,ref _bodyDataNum, _bodyDataArray, ref _TriNum,ref _TriArray, _bDumpFrame, _bCompressed); // Debug.Log("开始数据处理：_dataType"+(int)(_dataType)+" "+Convert.ToInt32(_dataType)+" _deviceId:"+ (int)(_deviceId)+" "+Convert.ToInt32(_deviceId)+" __headDataNum:"+Convert.ToInt32(_headDataNum)+" ___bodyDataNum:"+Convert.ToInt32(_bodyDataNum)); if (mDataType == 0) { if (Convert.ToInt32(_dataType) == 1) { //点云数据 if(_headDataNum<=0) { // Debug.Log("丢失更新1"); isLost=true; isUpdatae = false; st.Stop(); timeDelay = st.ElapsedMilliseconds; // Debug.Log("Running time " + st.ElapsedMilliseconds.ToString() + "ms"); st.Reset(); Thread.Sleep(5); }else { //Debug.Log("更新"); UpdateCloudData(); st.Stop(); timeDelay = st.ElapsedMilliseconds; // Debug.Log("Running time " + st.ElapsedMilliseconds.ToString() + "ms"); st.Reset(); isUpdatae = true; isLost=false; Thread.Sleep(5); } } else { //mesh数据 /* Debug.Log("更新更新"); isLost=true; st.Stop(); timeDelay = st.ElapsedMilliseconds; // Debug.Log("Running time " + st.ElapsedMilliseconds.ToString() + "ms"); st.Reset(); isUpdatae = false; Thread.Sleep(5);*/ } } else { //mesh数据 //Debug.Log("丢失更新2"); //CloudDataclear(); isLost=true; isUpdatae = false; Thread.Sleep(5); } } } private void UpdateCloudData() { headPointGroups = Mathf.CeilToInt((int)_headDataNum * topologyNum *1.0f/ limitPoints*1.0f ); bodyPointGroups = Mathf.CeilToInt((int)_bodyDataNum * topologyNum *1.0f/ limitPoints*1.0f); if (headpostionList.Count < headPointGroups) { int len=headpostionList.Count; for (int i = 0; i < headPointGroups-len; i++) { headpostionList.Add(new Vector3[limitPoints]); headcolorList.Add(new Color[limitPoints]); } } if (bodypostionList.Count < bodyPointGroups) { int len=bodypostionList.Count; for (int i = 0; i < bodyPointGroups-len; i++) { bodypostionList.Add(new Vector3[limitPoints]); bodycolorList.Add(new Color[limitPoints]); } } int pointIndex = 0; long lostCount = 0; int arylndex=0; int indexTemp=0; float x, y, z, r, g, b; for (int i = 0; i < (int)_headDataNum; i++) { x = -_headDataArray[i * 6]; y = -_headDataArray[i * 6+1]-0.4f; z = _headDataArray[i * 6+2]; r = _headDataArray[i * 6+5]; g = _headDataArray[i * 6+4]; b = _headDataArray[i * 6+3]; arylndex = pointIndex / (limitPoints); indexTemp = pointIndex - arylndex * limitPoints; headcolorList[arylndex][indexTemp] = new Color(r, g, b, 1.0f); headpostionList[arylndex][indexTemp] = new Vector3(x - headPointSize, y, z+offsetZ); headcolorList[arylndex][indexTemp+1] = new Color(r, g, b, 1.0f); headpostionList[arylndex][indexTemp+1] = new Vector3(x , y + headPointSize, z+offsetZ); headcolorList[arylndex][indexTemp+2] = new Color(r, g, b, 1.0f); headpostionList[arylndex][indexTemp+2] = new Vector3(x + headPointSize, y, z+offsetZ); //curListImg[i]=new Vector3(-x , -y, z); // curListCol[i]=new Color(r, g, b, 1.0f); pointIndex+=3; } //Debug.Log(headpostionList[0][0].z+"~~~~~~~~~~~~~"); if (pointIndex < headPointGroups * limitPoints) { arylndex = pointIndex/(limitPoints); Array.Clear( headcolorList[arylndex], pointIndex-limitPoints*arylndex, limitPoints*(arylndex+1)-pointIndex); Array.Clear( headpostionList[arylndex], pointIndex-limitPoints*arylndex, limitPoints*(arylndex+1)-pointIndex); //Array.Clear(curListCol, pointIndex, totalPoint-pointIndex ); // Array.Clear(curListImg, pointIndex, totalPoint -pointIndex); } int bodyPointIndex = 0; for (int i = 0; i < (int)_bodyDataNum; i++) { x =-_bodyDataArray[i * 6]; y = -_bodyDataArray[i * 6+1]-0.4f; z = _bodyDataArray[i * 6+2]; r = _bodyDataArray[i * 6+5]; g = _bodyDataArray[i * 6+4]; b = _bodyDataArray[i * 6+3]; arylndex = bodyPointIndex / (limitPoints); indexTemp = bodyPointIndex - arylndex * limitPoints; bodycolorList[arylndex][indexTemp] = new Color(r, g, b, 1.0f); bodypostionList[arylndex][indexTemp] = new Vector3(x - bodyPointSize, y, z+offsetZ); bodycolorList[arylndex][indexTemp+1] = new Color(r, g, b, 1.0f); bodypostionList[arylndex][indexTemp+1] = new Vector3(x , y + bodyPointSize, z+offsetZ); bodycolorList[arylndex][indexTemp+2] = new Color(r, g, b, 1.0f); bodypostionList[arylndex][indexTemp+2] = new Vector3(x + bodyPointSize, y, z+offsetZ); //curListImg[i]=new Vector3(-x , -y, z); // curListCol[i]=new Color(r, g, b, 1.0f); bodyPointIndex+=3; } if (bodyPointIndex < bodyPointGroups * limitPoints) { arylndex = bodyPointIndex/(limitPoints); Array.Clear( bodycolorList[arylndex], bodyPointIndex-limitPoints*arylndex, limitPoints*(arylndex+1)-bodyPointIndex); Array.Clear( bodypostionList[arylndex], bodyPointIndex-limitPoints*arylndex, limitPoints*(arylndex+1)-bodyPointIndex); //Array.Clear(curListCol, pointIndex, totalPoint-pointIndex ); // Array.Clear(curListImg, pointIndex, totalPoint -pointIndex); } //Debug.Log("Cached headpoint: " + pointIndex + ", Cached bodypoint: " + bodyPointIndex); } public void destory() { Debug.Log("OnDestroy invision_kinect_destroy Data"); thread.Abort(); invision_kinect_destroy(); } }